Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment
Xiyue Guo, Junjie Hu, Junfeng Chen, Fuqin Deng, Tin Lun Lam, Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment, IEEE Robotics and Automation Letters, 2021. PDF.
- Ubuntu = 20.04
- CMake = 3.16.3
- Eigen = 3.3.7
- Pangolin - master
- OpenCV = 4.5.4
- PCL = 1.10
Clone the repository and catkin_make:
git clone https://https://github.com/gxytcrc/Semantic-Graph-based--global-Localization.git
mkdir build
cd build
cmake ..
make -j4
Download the dataset that is created from Airsim, and save them into the Datset . Download link: https://drive.google.com/file/d/106sPA48vFThLK0RB4WBcj-i8FZPQPmcV/view?usp=sharing.
Launch it as follows:
./mapAlignment robot1-foldername startFrameNumber endFrameNumber robot2-foldername startFrameNumber endFrameNumber
eg:
./mapAlignment forwardCar 0 343 backwardCar 0 300
可视化: 前提 sudo apt install pcl-tools 同时显示两个点云: pcl_viewer cloud1.pcd cloud2pcd 修改点云颜色显示: pcl_viewer -fc 0,255,0 cloud1.pcd -fc 0,0,255 cloud2pcd
@inproceedings{XiyueGuo2021,
title={Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment},
author={Xiyue Guo, Junjie Hu, Junfeng Chen, Fuqin Deng, Tin Lun Lam},
booktitle=IEEE Robotics and Automation Letters (RA-L)},
year={2021}
}